JP5734102B2 - テーパ型の可撓性外歯車を備えた波動歯車装置 - Google Patents

テーパ型の可撓性外歯車を備えた波動歯車装置 Download PDF

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Publication number
JP5734102B2
JP5734102B2 JP2011123828A JP2011123828A JP5734102B2 JP 5734102 B2 JP5734102 B2 JP 5734102B2 JP 2011123828 A JP2011123828 A JP 2011123828A JP 2011123828 A JP2011123828 A JP 2011123828A JP 5734102 B2 JP5734102 B2 JP 5734102B2
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Prior art keywords
tooth
gear
root
curve
teeth
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JP2011123828A
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English (en)
Japanese (ja)
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JP2012251588A5 (enrdf_load_stackoverflow
JP2012251588A (ja
Inventor
昌一 石川
昌一 石川
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Harmonic Drive Systems Inc
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Harmonic Drive Systems Inc
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Publication date
Application filed by Harmonic Drive Systems Inc filed Critical Harmonic Drive Systems Inc
Priority to JP2011123828A priority Critical patent/JP5734102B2/ja
Priority to US13/482,091 priority patent/US8910545B2/en
Priority to DE102012209201.3A priority patent/DE102012209201B4/de
Publication of JP2012251588A publication Critical patent/JP2012251588A/ja
Publication of JP2012251588A5 publication Critical patent/JP2012251588A5/ja
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/08—Profiling
    • F16H55/0833—Flexible toothed member, e.g. harmonic drive
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/19—Gearing
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/19—Gearing
    • Y10T74/19642—Directly cooperating gears

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
JP2011123828A 2011-06-01 2011-06-01 テーパ型の可撓性外歯車を備えた波動歯車装置 Active JP5734102B2 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2011123828A JP5734102B2 (ja) 2011-06-01 2011-06-01 テーパ型の可撓性外歯車を備えた波動歯車装置
US13/482,091 US8910545B2 (en) 2011-06-01 2012-05-29 Wave gear device provided with tapered flexible externally toothed gear
DE102012209201.3A DE102012209201B4 (de) 2011-06-01 2012-05-31 Wellgetriebe mit einem konisch zulaufenden, flexiblen, außen verzahnten Zahnrad

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2011123828A JP5734102B2 (ja) 2011-06-01 2011-06-01 テーパ型の可撓性外歯車を備えた波動歯車装置

Publications (3)

Publication Number Publication Date
JP2012251588A JP2012251588A (ja) 2012-12-20
JP2012251588A5 JP2012251588A5 (enrdf_load_stackoverflow) 2014-05-08
JP5734102B2 true JP5734102B2 (ja) 2015-06-10

Family

ID=47173588

Family Applications (1)

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JP2011123828A Active JP5734102B2 (ja) 2011-06-01 2011-06-01 テーパ型の可撓性外歯車を備えた波動歯車装置

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Country Link
US (1) US8910545B2 (enrdf_load_stackoverflow)
JP (1) JP5734102B2 (enrdf_load_stackoverflow)
DE (1) DE102012209201B4 (enrdf_load_stackoverflow)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9534681B2 (en) * 2011-09-29 2017-01-03 Harmonic Drive Systems Inc. Wave gear device having tapered flexible external gear
JP6218693B2 (ja) * 2014-07-23 2017-10-25 株式会社ハーモニック・ドライブ・システムズ デュアルタイプの波動歯車装置
JP6218690B2 (ja) * 2014-07-23 2017-10-25 株式会社ハーモニック・ドライブ・システムズ デュアルタイプの波動歯車装置
JP6218691B2 (ja) 2014-07-23 2017-10-25 株式会社ハーモニック・ドライブ・システムズ デュアルタイプの波動歯車装置
JP6218692B2 (ja) * 2014-07-23 2017-10-25 株式会社ハーモニック・ドライブ・システムズ デュアルタイプの波動歯車装置
JP6560578B2 (ja) * 2015-09-29 2019-08-14 株式会社エンプラス 樹脂製はすば歯車
US10801585B2 (en) * 2015-11-06 2020-10-13 Harmonic Drive Systems Inc. Flexible external gear and strain wave gearing
JP6614988B2 (ja) * 2016-02-08 2019-12-04 株式会社ハーモニック・ドライブ・システムズ カップ形状の可撓性外歯歯車および波動歯車装置
JP2019138412A (ja) 2018-02-14 2019-08-22 セイコーエプソン株式会社 ロボットおよび歯車装置
JP2020034128A (ja) 2018-08-31 2020-03-05 セイコーエプソン株式会社 歯車装置、歯車装置ユニットおよびロボット
CN114867951B (zh) * 2020-01-08 2025-07-18 谐波传动系统有限公司 波动齿轮装置
JP7530267B2 (ja) * 2020-10-16 2024-08-07 美的集団股▲フン▼有限公司 波動歯車装置及びアクチュエータ
CN115750730A (zh) * 2022-11-29 2023-03-07 珠海格力电器股份有限公司 一种刚轮结构及包含其的谐振减速器

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2906143A (en) 1955-03-21 1959-09-29 United Shoe Machinery Corp Strain wave gearing
JPS6275153A (ja) * 1985-09-30 1987-04-07 Tsubakimoto Chain Co ハ−モニツクドライブ装置
DD244796A1 (de) 1985-12-23 1987-04-15 Wtz Getriebe & Kupplungen Veb Verzahnung an wellgetrieben, insbesondere mit topffoermigem elastischen rad
JPH0784896B2 (ja) 1986-11-05 1995-09-13 株式会社ハーモニック・ドライブ・システムズ 撓み噛み合い式歯車装置
JP2503027B2 (ja) 1987-09-21 1996-06-05 株式会社ハーモニック・ドライブ・システムズ 撓みかみ合い式歯車装置
JP3132777B2 (ja) * 1991-11-07 2001-02-05 株式会社ハーモニック・ドライブ・システムズ 撓み噛み合い式歯車装置
WO2002079667A1 (fr) * 2001-03-29 2002-10-10 Harmonic Drive Systems Inc. Pignonerie ondulatoire a profils d'engrenage des dents a deviation tridimensionnelle
JP2003176857A (ja) * 2001-12-11 2003-06-27 Teijin Seiki Co Ltd 噛み合い式歯車装置用フレクススプラインおよびそのフレクススプラインを備えた噛み合い式歯車装置
JP4597051B2 (ja) * 2003-10-30 2010-12-15 株式会社ハーモニック・ドライブ・システムズ 広域噛み合い歯形を有する波動歯車装置
US7735396B2 (en) 2004-06-21 2010-06-15 Harmonic Drive Systems Inc. Wave gear drive having negative deflection meshing tooth profile
JP5138783B2 (ja) * 2008-12-18 2013-02-06 株式会社ハーモニック・ドライブ・システムズ ３次元接触可能な転位歯形を有する波動歯車装置
CN102959275B (zh) 2011-02-04 2015-09-02 谐波传动系统有限公司 具有三维接触渐开线正偏位齿形的波动齿轮装置

Also Published As

Publication number Publication date
US8910545B2 (en) 2014-12-16
DE102012209201B4 (de) 2024-04-18
DE102012209201A1 (de) 2012-12-06
JP2012251588A (ja) 2012-12-20
US20120304791A1 (en) 2012-12-06

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